Abstract
In this paper, the delay consensus of second-order nonlinear leader-following multi-agent systems is discussed. The considered multi-agent system has an active leader and the information exchange between two different agents possesses directional. A simple input control law is proposed. Based on the matrix theory and Lyapunov stability theory, the effectiveness of this control law is proved and a sufficient condition is obtained to realize delay consensus of the second-order multi-agent system.
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